A robot programming device, in which the teaching of the cooperative motion of a plurality of robots may be carried out in a short time so as to reduce the number of man-hours for starting-up a robot system including the robots. The robot system includes two handling robots each having a hand for gripping a workpiece and a welding robot having a welding torch, a robot controller for controlling the robots, a personal computer with a robot programming device connected to the controller, and a teaching operation panel connected to the controller for teaching each robot.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A robot programming device, for a robot system including a handling robot having a hand for gripping a workpiece and a processing robot cooperatively moved with the handling robot and having a work tool for processing the workpiece, the robot programming device making a motion program for the handling robot and the processing robot, the robot programming device comprising: a display part which indicates three-dimensional images of the handling robot, the hand, the processing robot, the work tool and the workpiece; a movement condition specifying part which specifies a condition of the movement of the workpiece by the handling robot; a positional relation specifying part which specifies a positional relation between the workpiece and the hand; a first candidate setting part configured to set a plurality of candidate positions locations of the handling robot; a first selecting part configured to select one or more location among the plurality of candidate locations of the handling robot where the handling robot does not interfere with another article when the handling robot is operated according to the condition of the movement of the workpiece and a positional relation between the workpiece and the hand, and determines a motion of the handling robot based on the selected location; a site specifying part which specifies a site on the workpiece to be processed; a second candidate setting part configured to set a plurality of candidate locations of the processing robot; a second selecting part configured to select one or more locations of the processing robot among the plurality of candidate locations where the processing robot does not interfere with another article when the processing robot is operated according to the condition of the movement of the workpiece and the position of the site on the workpiece to be processed, and determines the motion of the processing robot based on the selected location; and a program making part which makes the motion program for the handling robot and the processing robot based on the selected locations and determined motions of the handling robot and the processing robot.
2. The robot programming device as set forth in claim 1 , wherein the first selecting part for the handling robot changes the determined location of the handling robot to another candidate location and checks again the possibility of the motion of the handling robot at a changed location, when the determined motion of the handling robot at the determined location is judged to be inappropriate.
3. The robot programming device as set forth in claim 1 , wherein the second selecting part for the processing robot changes the determined location of the processing robot to another candidate location and checks again the possibility of the motion of the processing robot at a changed location, when the determined motion of the processing robot at the determined location is judged to be inappropriate.
4. The robot programming device as set forth in claim 2 , wherein the second selecting part for the processing robot changes the determined location of the processing robot to another candidate location and checks again the possibility of the motion of the processing robot at a changed location, when the determined motion of the processing robot at the determined location is judged to be inappropriate.
5. The robot programming device as set forth in claim 1 , wherein the first selecting part for the handling robot selects a candidate location among the plurality of candidate locations of the handling robot where the area of installation of the handling robot is minimized.
6. The robot programming device as set forth in claim 1 , wherein the second selecting part for the processing robot selects a candidate location among the plurality of candidate locations of the processing robot where the area of installation of the robot system is minimized.
7. The robot programming device as set forth in claim 5 , wherein the second selecting part for the processing robot selects a candidate location among the plurality of candidate locations of the processing robot where the area of installation of the robot system is minimized.
8. The robot programming device as set forth in claim 1 , wherein the first selecting part for the handling robot calculates a margin of a stroke of the handling robot in each candidate location and selects a candidate location among the plurality of candidate locations of the handling robot where the handling robot has the maximum margin of the stroke.
9. The robot programming device as set forth in claim 1 , wherein the second selecting part for the processing robot calculates a margin of a stroke of the processing robot in each candidate location and selects a candidate location among the plurality of candidate locations of the processing robot where the processing robot has the maximum margin of the stroke.
10. The robot programming device as set forth in claim 8 , wherein the second selecting art for the processing robot calculates the margin of the stroke of the processing robot in each candidate location and selects a candidate location among the plurality of candidate locations of the processing robot where the processing robot has the maximum margin of the stroke.
11. The robot programming device as set forth in claim 1 , wherein the first and second selecting parts select candidate locations among the plurality of candidate locations of the handling robot and the processing robot, respectively, so that an entire area of installation of the robot system is minimized.
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August 2, 2006
March 8, 2011
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